Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231565
Q. Cao, Dongya Zhao, Shurong Li, Chao Liu, Z. Man
A finite-time adaptive force control scheme is designed for manipulators in the case of that the end-effectors are subjected to rheonomic constraints. There are three advantages of the proposed approach. (1) The finite-time convergence of force tracking error can be ensured. (2) The uncertainty of robotic parameters is solved by an adaptive control scheme. (3) Higher-precision motion tracking performance is achieved in comparison with the conventional approaches. The stability analysis and a numerical illustrative example both demonstrate that the proposed control scheme is effective.
{"title":"Finite-time adaptive force control for rheonomically constrained manipulators","authors":"Q. Cao, Dongya Zhao, Shurong Li, Chao Liu, Z. Man","doi":"10.1109/ICMC.2014.7231565","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231565","url":null,"abstract":"A finite-time adaptive force control scheme is designed for manipulators in the case of that the end-effectors are subjected to rheonomic constraints. There are three advantages of the proposed approach. (1) The finite-time convergence of force tracking error can be ensured. (2) The uncertainty of robotic parameters is solved by an adaptive control scheme. (3) Higher-precision motion tracking performance is achieved in comparison with the conventional approaches. The stability analysis and a numerical illustrative example both demonstrate that the proposed control scheme is effective.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115177250","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231688
N. Qi, Qi Xia, J. Guo, Tian-Ye Wang, Shi-Rong Tan, Zhao Zhenqing
To obtain the attitude of spacecraft by a large field of view CCD system is not an unachievable task. The principal aim of this paper is to research the accuracy of spacecraft's attitude by shooting stars with the large field of view CCD system on the ground. In this paper, the quadrilateral algorithm model and an algorithm of data fusion from a set of real images, are given. The experimental results show that it is feasible to calculate the attitude of spacecraft by the quadrilateral model and the data fusion algorithm.
{"title":"Quadrilateral algorithm and date fusion method in star identification","authors":"N. Qi, Qi Xia, J. Guo, Tian-Ye Wang, Shi-Rong Tan, Zhao Zhenqing","doi":"10.1109/ICMC.2014.7231688","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231688","url":null,"abstract":"To obtain the attitude of spacecraft by a large field of view CCD system is not an unachievable task. The principal aim of this paper is to research the accuracy of spacecraft's attitude by shooting stars with the large field of view CCD system on the ground. In this paper, the quadrilateral algorithm model and an algorithm of data fusion from a set of real images, are given. The experimental results show that it is feasible to calculate the attitude of spacecraft by the quadrilateral model and the data fusion algorithm.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116054827","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231669
Jian Sun, Di Wang
This paper is concerned with networked predictive controller design and stability analysis of the networked predictive control system. A new networked predictive control method based on linear interpolation is proposed. Compared with the networked predictive control method in the literature, the proposed method can reduce the size of the data packet significantly. The closed-loop system is converted into a switched system by the augmentation method. A sufficient stability condition is obtained on the basis of the switched Lyapunov function approach. A simulation is carried out to confirm the efficacy of the proposed method.
{"title":"A new networked predictive control method: Design and stability analysis","authors":"Jian Sun, Di Wang","doi":"10.1109/ICMC.2014.7231669","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231669","url":null,"abstract":"This paper is concerned with networked predictive controller design and stability analysis of the networked predictive control system. A new networked predictive control method based on linear interpolation is proposed. Compared with the networked predictive control method in the literature, the proposed method can reduce the size of the data packet significantly. The closed-loop system is converted into a switched system by the augmentation method. A sufficient stability condition is obtained on the basis of the switched Lyapunov function approach. A simulation is carried out to confirm the efficacy of the proposed method.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116390216","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7232008
M. Ruf, J. Ziehn, D. Willersinn, B. Rosenhahn, J. Beyerer, H. Gotzig
This paper presents and evaluates a differential geometric model for single and double track vehicles, which allows to estimate internal state parameters (steering angles, velocities, wheel speeds, ...) from a given planar trajectory over time. Possible applications include accident reconstruction from video footage, constraining trajectory optimization by physical limits, and extracting control parameters a-priori from trajectories, for use in open-loop (non-feedback) controllers for short intervals. The model is easy to compute, yet the evaluation with IPG CarMaker suggests a good level of accuracy.
{"title":"Evaluation of an analytic model for car dynamics","authors":"M. Ruf, J. Ziehn, D. Willersinn, B. Rosenhahn, J. Beyerer, H. Gotzig","doi":"10.1109/ICMC.2014.7232008","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7232008","url":null,"abstract":"This paper presents and evaluates a differential geometric model for single and double track vehicles, which allows to estimate internal state parameters (steering angles, velocities, wheel speeds, ...) from a given planar trajectory over time. Possible applications include accident reconstruction from video footage, constraining trajectory optimization by physical limits, and extracting control parameters a-priori from trajectories, for use in open-loop (non-feedback) controllers for short intervals. The model is easy to compute, yet the evaluation with IPG CarMaker suggests a good level of accuracy.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122827206","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231752
Yao Zhang, Yuxin Zhao
In order to eliminate bad influence caused by parameter uncertainties and external disturbances in spacecraft tracking system, a higher-order sliding mode control strategy is proposed in this paper. Attitude control system is divided into fast loop and slow loop based on singular perturbation. The sign function is replaced by the norm-type switching function for the continuous virtual control in the slow loop. The fast loop consists of the integral fast terminal sliding mode control, the feedback control and the higher-order sliding mode control. Theoretical analysis and simulation results show strong robustness and weak chattering.
{"title":"A higher-order sliding mode controller design for spacecraft attitude tracking system","authors":"Yao Zhang, Yuxin Zhao","doi":"10.1109/ICMC.2014.7231752","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231752","url":null,"abstract":"In order to eliminate bad influence caused by parameter uncertainties and external disturbances in spacecraft tracking system, a higher-order sliding mode control strategy is proposed in this paper. Attitude control system is divided into fast loop and slow loop based on singular perturbation. The sign function is replaced by the norm-type switching function for the continuous virtual control in the slow loop. The fast loop consists of the integral fast terminal sliding mode control, the feedback control and the higher-order sliding mode control. Theoretical analysis and simulation results show strong robustness and weak chattering.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"355 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122997221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231646
Xueli Wu, Wei Li, Jianhua Zhang, Yapei Gu
In this paper, an adaptive observer for neutral delay systems with mixed delays and time-varying structured is investigated. Based on Lyapunov stability theory and linear matrix inequalities (LMIs) method, some new stability criteria is presented to solve the exponentially stability of neutral delay system. An advantage of the presented study lies in that the tow time-varying delay and the adaptive control method. Finally, an example is simulated to confirm the effectiveness of the proposed approach.
{"title":"An adaptive observer for a class of uncertain nonlinear neutral delay systems","authors":"Xueli Wu, Wei Li, Jianhua Zhang, Yapei Gu","doi":"10.1109/ICMC.2014.7231646","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231646","url":null,"abstract":"In this paper, an adaptive observer for neutral delay systems with mixed delays and time-varying structured is investigated. Based on Lyapunov stability theory and linear matrix inequalities (LMIs) method, some new stability criteria is presented to solve the exponentially stability of neutral delay system. An advantage of the presented study lies in that the tow time-varying delay and the adaptive control method. Finally, an example is simulated to confirm the effectiveness of the proposed approach.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"17 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114032938","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231597
Shenping Xiao, Lixin Guo, Liyan Wang
This paper studies the problems for the stability analysis and controller design of wireless sensor networks (WSNs) measurement and control systems. In order to ensure the stability of the systems, we construct proper Lyapunov-Krasovskii functional and employ integral inequalities to analyze the WSNs measurement and control systems based on Lyapunov theorem. At the same time, in combination with the actual conditions, it makes a concrete analysis of the WSNs measurement and control system in greenhouse with temperature and humidity parameters as the objectives of research. A numerical example demonstrate that the criterion obtained in this paper can make the WSNs measurement and control systems steady, which is better than some published results.
{"title":"A novel stability criterion of WSNs measurement and control system with time-delay","authors":"Shenping Xiao, Lixin Guo, Liyan Wang","doi":"10.1109/ICMC.2014.7231597","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231597","url":null,"abstract":"This paper studies the problems for the stability analysis and controller design of wireless sensor networks (WSNs) measurement and control systems. In order to ensure the stability of the systems, we construct proper Lyapunov-Krasovskii functional and employ integral inequalities to analyze the WSNs measurement and control systems based on Lyapunov theorem. At the same time, in combination with the actual conditions, it makes a concrete analysis of the WSNs measurement and control system in greenhouse with temperature and humidity parameters as the objectives of research. A numerical example demonstrate that the criterion obtained in this paper can make the WSNs measurement and control systems steady, which is better than some published results.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128460817","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7232006
Majid Saeidi, J. Zarei, Hossein Hassani, A. Zamani
In this paper, Park's vector transformation and frequency domain analysis for fault detection of induction motors are introduced. Then a smart approach based on Adaptive Nuero Fuzzy Inference System (ANFIS) that uses time domain features obtained from the Park's transformation of stator currents is proposed for fault detection. By the proposed method, a 1 mm hole on the inner race and two faults including 1 mm and 3 mm hole on the outer race, using experimental data is investigated. It is shown that using features derived from Park's vector modulus results in better performance compared to the features obtained from a single phase current.
{"title":"Bearing fault detection via Park's vector approach based on ANFIS","authors":"Majid Saeidi, J. Zarei, Hossein Hassani, A. Zamani","doi":"10.1109/ICMC.2014.7232006","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7232006","url":null,"abstract":"In this paper, Park's vector transformation and frequency domain analysis for fault detection of induction motors are introduced. Then a smart approach based on Adaptive Nuero Fuzzy Inference System (ANFIS) that uses time domain features obtained from the Park's transformation of stator currents is proposed for fault detection. By the proposed method, a 1 mm hole on the inner race and two faults including 1 mm and 3 mm hole on the outer race, using experimental data is investigated. It is shown that using features derived from Park's vector modulus results in better performance compared to the features obtained from a single phase current.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128562373","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231952
Dan Shan, Q. Miao, Aihua Dong, Erhu Saiji
In this paper, we consider the cortico-cortical network of cats' brain, and discuss the related synchronization under the framework of adaptive evolving networks. Based on the decentralized adaptive coupling control strategies, we show that the synchronization can be achieved with the adaptive coupling strengths reaching finite steady values. Moreover, we find that when complete synchronization is achieved, the coupling strengths become correlated with the topology of the cortico-cortical networks.
{"title":"Synchronization of neuronal networks through local adaptive coupling","authors":"Dan Shan, Q. Miao, Aihua Dong, Erhu Saiji","doi":"10.1109/ICMC.2014.7231952","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231952","url":null,"abstract":"In this paper, we consider the cortico-cortical network of cats' brain, and discuss the related synchronization under the framework of adaptive evolving networks. Based on the decentralized adaptive coupling control strategies, we show that the synchronization can be achieved with the adaptive coupling strengths reaching finite steady values. Moreover, we find that when complete synchronization is achieved, the coupling strengths become correlated with the topology of the cortico-cortical networks.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129248533","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231555
Xia Chen, Shuping He
The delay-dependent finite-time H∞ control matter of the uncertain nonlinear neutral time-delayed systems via output feedback is considered. The uncertain disturbance is assumed to energy bounded. By selecting an appropriate Lyapunov function, a finite-time bounded H∞ control criterion is provided for the closed-loop neutral system by the way of the linear matrix inequalities (LMIs). Emulation consequents show the validity of our presented approach.
{"title":"Finite-time H∞ control for uncertain nonlinear neutral time-delayed system via delay-dependent output-feedback","authors":"Xia Chen, Shuping He","doi":"10.1109/ICMC.2014.7231555","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231555","url":null,"abstract":"The delay-dependent finite-time H∞ control matter of the uncertain nonlinear neutral time-delayed systems via output feedback is considered. The uncertain disturbance is assumed to energy bounded. By selecting an appropriate Lyapunov function, a finite-time bounded H∞ control criterion is provided for the closed-loop neutral system by the way of the linear matrix inequalities (LMIs). Emulation consequents show the validity of our presented approach.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130348517","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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